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| author | Nao Pross <np@0hm.ch> | 2023-05-24 16:17:59 +0200 |
|---|---|---|
| committer | Nao Pross <np@0hm.ch> | 2023-05-24 16:31:50 +0200 |
| commit | 4a7a45ea55ecd4d4f1bafec34f55902dbefc363d (patch) | |
| tree | 30609e499982e9c1bd6b2f4507e89a21d455483d /templates/generate_constraints.m | |
| parent | Take .gitignore from npross (diff) | |
| download | mpc_pe-4a7a45ea55ecd4d4f1bafec34f55902dbefc363d.tar.gz mpc_pe-4a7a45ea55ecd4d4f1bafec34f55902dbefc363d.zip | |
Take deliverables for system modelling from npross
According to table 3 that is
- generate_system_cont
- generate_system
- generate_system_scaled
- generate_contraints
- generate_params
Diffstat (limited to 'templates/generate_constraints.m')
| -rw-r--r-- | templates/generate_constraints.m | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index 892b706..e2e4357 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -7,5 +7,10 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% function [H_u, h_u, H_x, h_x] = generate_constraints(params) - % YOUR CODE HERE + H_u = [eye(params.model.nu); -eye(params.model.nu)]; + h_u = params.constraints.MaxAbsThrust * ones(params.model.nu*2,1); + + H_x = [eye(3), zeros(3); -eye(3), zeros(3)]; % * inv(params.model.ScalingMatrix); + h_x = params.constraints.MaxAbsPositionXZ * [1, 0, 1, 1, 0, 1].' + ... + params.constraints.MaxAbsPositionY * [0, 1, 0, 0, 1, 0].'; end
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